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#!/usr/bin/env python
import argparse
import os
import time
from argaze.TobiiGlassesPro2 import TobiiController, TobiiVideo
from argaze.ArUcoMarkers import ArUcoBoard, ArUcoTracker, ArUcoCamera
import cv2 as cv
def main():
"""
Captures board pictures and finally outputs camera calibration data into a .json file.
- Export and print a calibration board using
- Place the calibration board in order to view it entirely on screen and move the camera in many configurations (orientation and distance) : the script will automatically take pictures. Do this step with a good lighting and a clear background.
- Once enough pictures have been captured (~20), press Esc key then, wait for the camera calibration processing.
- Finally, check rms parameter: it should be between 0. and 1. if the calibration suceeded (lower is better).
### Reference:
- [Camera calibration using ArUco marker tutorial](https://automaticaddison.com/how-to-perform-camera-calibration-using-opencv/)
"""
# manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('columns', metavar='COLS_NUMBER', type=int, default=7, help='number of columns')
parser.add_argument('rows', metavar='ROWS_NUMBER', type=int, default=5, help='number of rows')
parser.add_argument('square_size', metavar='SQUARE_SIZE', type=int, default=5, help='square size (cm)')
parser.add_argument('marker_size', metavar='MARKER_SIZE', type=int, default=5, help='marker size (cm)')
parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default='192.168.1.10', help='tobii glasses ip')
parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='destination filepath')
parser.add_argument('-d', '--dictionary', metavar='DICT', type=str, default='DICT_4X4_50', help='aruco marker dictionnary')
args = parser.parse_args()
# create tobii controller
tobii_controller = TobiiController.TobiiController(args.tobii_ip, 'ArGaze', 1)
# create tobii video thread
tobii_video_thread = TobiiVideo.TobiiVideoThread(tobii_controller)
tobii_video_thread.start()
# create aruco camera
aruco_camera = ArUcoCamera.ArUcoCamera()
# create aruco board
aruco_board = ArUcoBoard.ArUcoBoard(args.dictionary, args.columns, args.rows, args.square_size, args.marker_size)
# create aruco tracker
aruco_tracker = ArUcoTracker.ArUcoTracker(args.dictionary, args.marker_size, aruco_camera)
# start tobii glasses streaming
tobii_controller.start_streaming()
print("Camera calibration starts")
print("Waiting for calibration board...")
frame_width = 0
frame_height = 0
expected_markers_number = len(aruco_board.get_ids())
expected_corners_number = (aruco_board.get_size()[0] - 1 ) * (aruco_board.get_size()[1] - 1)
# capture loop
try:
# wait 1ms between each frame until 'Esc' key is pressed
while cv.waitKey(1) != 27:
# capture frame with a full displayed board
frame, frame_width, frame_height, frame_time, frame_pts = tobii_video_thread.read()
# track all markers in the board
aruco_tracker.track_board(frame, aruco_board, expected_markers_number)
# draw only markers
aruco_tracker.draw(frame)
# draw current calibration data count
cv.putText(frame, f'Capture: {aruco_camera.get_calibration_data_count()}', (50, 50), cv.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv.LINE_AA)
cv.imshow('Tobii Camera Calibration', frame)
# if all board corners are detected
if aruco_tracker.get_board_corners_number() == expected_corners_number:
# draw board corners to notify a capture is done
aruco_tracker.draw_board(frame)
# append data
aruco_camera.store_calibration_data(aruco_tracker.get_board_corners(), aruco_tracker.get_board_corners_ids())
cv.imshow('Tobii Camera Calibration', frame)
# exit on 'ctrl+C' interruption
except KeyboardInterrupt:
pass
# stop frame display
cv.destroyAllWindows()
# stop tobii objects
tobii_video_thread.stop()
tobii_controller.stop_streaming()
tobii_controller.close()
print('\nCalibrating camera...')
aruco_camera.calibrate(aruco_board, frame_width, frame_height)
print('\nCalibration succeeded!')
print(f'\nRMS:\n{aruco_camera.get_rms()}')
print(f'\nCamera matrix:\n{aruco_camera.get_K()}')
print(f'\nDistortion coefficients:\n{aruco_camera.get_D()}')
aruco_camera.save_calibration_file(args.output)
print(f'\nCalibration data exported into {args.output} file')
if __name__ == '__main__':
main()
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